v2.5 merge #236
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v2.5 merge #236
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* check for "camera_model" param matching with real camera model * publish IMU DATA only if a ZED-M is connected
Update package.xml to Format2
Publish odom when point cloud is subscribed
* modified coordinate_system to COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP * correct the coordinate system to COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP_X_FWD as soon as it will be available in SDK * added a frame_id for IMU * added a link for IMU
* moved nodelet code in "nodelet" folder * split function declarations and definitions moving declarations in zed_wrapper_nodelet.h * fixed warnings in debug messages
…Nodelet class objects
* Moved utility functiont to external code in sl_tools
* Moved includes in the right place (h/cpp) where required
* modified Rviz settings to improve performances reducing requested power during point clouds rendering
* Added MACROS for coordinate frames for backward compatibility
camera is plugged in
pointcloud) * Changed copyright to 2018
tracking * added a new enable_tracking function * renamed zed_center to zed_camera_center * started to work on IMU frame TF publishing
instead of identity pose
* reorganized code to set initial pose and to reset it to launch param value
* changed service name from "set_pose" to "set_initial_pose"
* Moved IMU TF broadcasting in the correct place (together with IMU topic publishing)
* To be checked: IMU frame and Pose frame
where applied to previous "odometry pose" that is in base frame. Now "odometry pose" acquired from ZED is transformed in base frame before propagating new pose
* changed names of transforms variables to a more clear form
respect the camera grabbing FPS set by user
* Minor code cleanings
from ZED tracking. Only available on ZED M In this way the odometry and the map frames have the same starting orientation even if the initial pose of the camera is not horizontal
If the framerate is not correct is set to the lowest valid value
is longer than FPS timing
adujardin
approved these changes
Jul 17, 2018
nesnes
approved these changes
Jul 17, 2018
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